Vehicular rear backup system

ABSTRACT

A vehicular rear backup system includes a rear backup camera and an electronic control unit (ECU). The camera connects with the ECU via a cable. Image data captured by the camera is converted at a serializer of the camera to serialized image data. The serialized image data is carried to the ECU via the cable and is de-serialized at a de-serializer of the ECU to form de-serialized image data. Responsive at least in part to processing at the ECU of de-serialized image data, the vehicular rear backup system is operable to detect an object present rearward of the vehicle during a rear backup maneuver. Video images derived at least in part from an output generated at the ECU via processing at the ECU of de-serialized image data are displayed at a video display device of the vehicle during the rear backup maneuver of the equipped vehicle.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. Pat. application Ser.No. 17/659,503, filed Apr. 18, 2022, now U.S. Pat. No. 11,508,160, whichis a continuation of U.S. Pat. application Ser. No. 17/248,946, filedFeb. 15, 2021, now U.S. Pat. No. 11,308,718, which is a continuation ofU.S. Pat. application Ser. No. 16/724,484, filed Dec. 23, 2019, now U.S.Pat. No. 10,922,563, which is a continuation of U.S. Pat. applicationSer. No. 16/117,172, filed Aug. 30, 2018, now U.S. Pat. No. 10,515,279,which is a continuation of U.S. Pat. application Ser. No. 13/894,870,filed May 15, 2013, now U.S. Pat. No. 10,089,537, which claims thefiling benefit of U.S. Provisional applications, Ser. No. 61/699,498,filed Sep. 11, 2012, Ser. No. 61/682,486, filed Aug. 13, 2012, and Ser.No. 61/648,744, filed May 18, 2012, which are hereby incorporated hereinby reference in their entireties.

FIELD OF THE INVENTION

The present invention relates to imaging systems or vision systems forvehicles.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system for avehicle that utilizes two or more cameras to capture images exterior ofthe vehicle (such as forwardly and rearwardly of the vehicle), andprovides the communication/data signals, including camera data or imagedata, that may be displayed at a display screen that is viewable by thedriver of the vehicle, such as when the driver is backing up thevehicle, and that may be processed and, responsive to such imageprocessing, the system may detect an object at or near the vehicle andin the path of travel of the vehicle, such as when the vehicle isbacking up. The vision system may be operable to display a surround viewor bird’s eye view of the environment at or around or at least partiallysurrounding the subject or equipped vehicle.

According to an aspect of the present invention, a vision system for avehicle includes multiple cameras or image sensors disposed at a vehicleand having respective fields of view exterior of the vehicle, and animage processor operable to process data transmitted by the cameras. Thevision system includes a forward facing camera module (having imageprocessing circuitry incorporated therein) and a rearward facing visioncamera (for capturing video image data that is displayed on a display ofthe vehicle for viewing by the driver of the vehicle during a reversingmaneuver). The video output of the rearward facing vision camera is fedto the forward facing camera module and to the display, so the videoimages can be viewed by the driver of the vehicle and can be processedby an image processor of the forward facing camera module. The videoimage data captured by the rearward facing camera may be fed to anamplifier of the forward facing camera module and an output of theamplifier is fed to a decoder of the forward facing camera module and anoutput of the decoder is fed to the image processor of the forwardfacing camera module. The vision system may provide a variety offunctions by utilizing captured image data from one or more of thecameras at the vehicle, such as a forward facing camera, a rearwardfacing camera, side view cameras and/or a forward facing windshieldmounted camera (having a field of view through the windshield of thevehicle).

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system and imagingsensors or cameras that provide exterior fields of view in accordancewith the present invention;

FIG. 2 is a schematic of a vision system of the present invention;

FIG. 3 is a schematic of another vision system of the present invention;

FIG. 4 is a schematic of another vision system of the present invention;

FIG. 5 is a plan view of a vehicle with a vision system and cameras ofthe present invention;

FIG. 6 is a schematic of a vehicle with a vision system and automaticbraking control of the present invention;

FIG. 7 is a schematic of another vehicle vision system of the presentinvention;

FIG. 8 is a plan view and schematic of a vehicle with a vision systemthat provides various features in accordance with the present invention;

FIG. 9 is a perspective view of a bicyclist detected by the visionsystem of the present invention;

FIG. 10 is a plan view of a vehicle with a vision system that detectsobjects approaching from the rear to limit the vehicle occupant fromopening the vehicle door into the path of the object;

FIG. 11 is an image showing a rear pedestrian detection function of thevision system of the present invention;

FIG. 12 is an image showing a rear object detection function of thevision system of the present invention;

FIG. 13 is an image showing a side cross traffic detection function ofthe vision system of the present invention;

FIGS. 14 and 15 show aspects of an adaptive emergency braking system ofthe vision system of the present invention;

FIG. 16 is an image showing a rear lane marker detection function of thevision system of the present invention;

FIGS. 17 and 18 are images showing different views based on imagescaptured by a rear camera of the vision system of the present invention;and

FIG. 19 is a schematic of another vehicle vision system of the presentinvention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver assist system and/or objectdetection system and/or alert system operates to capture images exteriorof the vehicle and may process the captured image data to display imagesand to detect objects at or near the vehicle and in the predicted pathof the vehicle, such as to assist a driver of the vehicle in maneuveringthe vehicle in a rearward direction. The vision system includes aprocessor that is operable to receive image data from the vehiclecameras and may provide a displayed image that is representative of thesubject vehicle (such as for a top down or bird’s eye or surround view,such as discussed below). The vision and display system may utilizeaspects of the systems described in U.S. Pat. No. 7,855,755 and U.S.Pat. application Ser. No. 12/405,558, filed Mar. 17, 2009, now U.S. Pat.No. 9,019,090, which are hereby incorporated herein by reference intheir entireties.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes an imaging system or vision system 12that includes at least one exterior facing imaging sensor or camera,such as a rearward facing imaging sensor or camera 14 a (and the systemmay optionally include multiple exterior facing imaging sensors orcameras, such as a forwardly facing camera 14 b at the front (or at thewindshield) of the vehicle, and a sidewardly/rearwardly facing camera 14c, 14 b at respective sides of the vehicle), which captures imagesexterior of the vehicle, with the camera having a lens for focusingimages at or onto an imaging array or imaging plane or imager of thecamera (FIG. 1 ). The vision system 12 includes a control or processor18 that is operable to process image data captured by the cameras andmay provide displayed images at a display device 16 for viewing by thedriver of the vehicle (although shown in FIG. 1 as being part of orincorporated in or at an interior rearview mirror assembly 20 of thevehicle, the control and/or the display device may be disposed elsewhereat or in the vehicle).

The present invention provides a vehicle vision system that integratesthe front and rear cameras. For example, a video line or feed from arearward facing camera may be fed to a front camera module or FCM (thatincludes a forward facing imager and associated circuitry). Optionally,and as shown in FIG. 2 , a rear camera may have a video and ground lineconnected to or in communication with a decoder (such as an NTSCdecoder) of a front camera module. The front camera module includes thedecoder and an encoder (such as an NTSC encoder) and an image processor.For example, the image processor may comprise an EYEQ2 image processingchip available from Mobileye Vision Technologies Ltd. of Jerusalem,Israel, and may include object detection software (such as the typesdescribed in U.S. Pat. Nos. 7,855,755; 7,720,580 and/or 7,038,577, whichare hereby incorporated herein by reference in their entireties), andmay analyze image data to detect objects. The power or Vcc line and theGround line of the rear camera may connect to a display element ormodule of the vehicle, and the display is in communication with theencoder of the front camera module, as shown in FIG. 2 . Thus, the rearcamera video feeds into the front camera module decoder and the decoderfeeds decoded video to the image processor or EYEQ2 processor, which mayprocess the image data to detect objects or the like, and the decoderand/or processor may feed an output to the encoder, which feeds theencoded signal to the display for displaying video images derived fromimage data captured by at least the rearward facing camera (andoptionally video images derived from image data captured by the forwardfacing camera and/or one or more sideward facing cameras of the vehicle,such as for a surround view vision system or the like).

Optionally, and as shown in FIG. 3 , a rear camera may be incommunication with an amplifier of a front camera module, which feedsvideo to the FCM decoder, which feeds the video to the image processor.The rear video thus feeds video to the FCM, and an internal splice inthe FCM provides a video line to the display, while the amplifierisolates the video from the FCM and feeds video to the decoder, whichfeeds the video into the image processor. Such a configuration providesthe camera integration without a change to the rear camera or to thedisplay, and without need for an encoder (thus reducing the cost of thesystem).

Optionally, and with reference to FIG. 4 , a rear camera video outputmay be fed to a video splitter, which feeds the video to both theforward camera module and the display. Such a configuration provides thecamera integration with no change to the rear camera or to the display,and with fewer pins or terminals at the FCM and less or reduced spacerequirements in the FCM.

Optionally, a second video output may be added to the rear camera, whichmay provide a vision system with no change to the display, and withfewer pins or terminals at the FCM and less or reduced spacerequirements in the FCM. Optionally, a video splitter / pass-through maybe added to the display, which may provide a vision system with nochange to the rear camera, and with fewer pins or terminals at the FCMand less or reduced space requirements in the FCM.

Optionally, the vision system of the present invention may combine imageand machine vision, such as when computing power is available for imageprocessing of the captured images. The combination of image visioncameras (that capture images for displaying images to be viewed by thedriver of the vehicle) and machine vision processing (that processesimage data to provide various features) allows for additional features.Optionally, and with reference to FIGS. 5-8 , the vision system may beassociated with an emergency braking system of the vehicle and mayprovide different braking responses or functions depending on theenvironment in which the vehicle is driven. For example, differentbraking control may be provided between city speed driving, urban speeddriving and when a pedestrian is detected. As shown in FIG. 8 , thevision system may provide various features and different types ofbraking (responsive to different image processing) depending on thedriving environment and whether a vehicle or pedestrian is detected bythe vision system.

Optionally, and such as discussed above, the vision system of thepresent invention may have a rearward facing camera (such as an imagingcamera for capturing video images for displaying at a display) videooutput fed as a video input to a machine vision forward camera (withimage processing capabilities). Optionally, the machine vision processormay be part of the front camera or may be located at a central ECU of asurround view system (such as shown in FIG. 7 ). As shown in FIG. 7 ,the surround view system includes four cameras having forward, rearwardand sideward fields of view, and one windshield mounted camera (having aforward field of view through the windshield of the vehicle), with acentral ECU having five camera inputs and one display output.

Such a system may provide various features. For example, the system maybe operable (utilizing image data captured by the windshield mountedcamera and the exterior forward (such as grille mounted) camera) todetect bicyclists traveling along a side region of the road on which thesubject vehicle is traveling (such as along a designated bike lane orthe like along a side portion of the road surface). The forward cameraprovides a wider field of view (such as can be seen in FIG. 8 ) todetect crossing bicycles that are relevant for impact while the vehicleis driven at low speeds. For example, and with reference to FIG. 9 ,when the vehicle speed is around 10 m/s or thereabouts, the system maybe operable to detect the bicycle traveling about 10 m/s at about a 45degree angle forward and to the side of the vehicle.

Optionally, the vision system may provide a door opening protectionfeature or function, such as by detecting (via processing image datacaptured by the sideview camera at each side of the vehicle) an objector vehicle or bicycle approaching from the rear of the subject vehicle(and when the subject vehicle is parked or not moving), and generatingan alert (or locking the vehicle door or precluding opening of thevehicle door) if the system determines that the approaching object mayhit the vehicle door if the door were opened. For example, and withreference to FIG. 10 , if the vision system detects the approachingbicyclist at and to the rear and side of the parked or non-movingsubject vehicle, the system may alert the driver and/or passenger of thevehicle to not open the door at that side of the vehicle or maytemporarily lock or limit opening of the vehicle door at that side ofthe vehicle until the detected object passes the door and is no longer apotential threat of impact.

Optionally, the vision system may provide a child presence detectionfeature or function. For example, the system may detect the presence ofa child (such as via processing of image data captured by the frontgrille camera, the side view cameras and/or the rear camera) and maygenerate an alert or warning if a child is determined to be present inproximity of the vehicle, optionally even if the child is not in thepath of travel of the vehicle and optionally even if the vehicle is notmoving. Optionally, such a system may be specific to detection ofchildren (such as by size of the detected person or the like), and notpedestrians in general.

Optionally, the vision system of the present invention may provide otherfeatures, such as, for example, blind spot detection function (to limitor prevent accidents during lane change maneuvers), an onramp assistfunction (to predict whether car can accelerate enough to merge withexisting traffic before the end of the onramp), a low speedCMB/pedestrians function (with a wider field of view to detectpedestrians that are relevant for impact while driving at very lowspeeds (such as around 1-2 m/s or thereabouts or more or less), aprevent running red lights function (such as by generating an alertand/or optionally braking the vehicle), an alert to go when a trafficlight changes to green, an automatic cruise control (ACC) automatic goin a stop and go ACC (such as for city driving conditions/environments),a traffic jam assist function (providing lateral and longitudinalcontrol in traffic jam scenarios (low speed, controlled access road)),an enhanced automatic emergency braking (AEB) function based on reartraffic (optionally, for example, overriding or not braking or delayingbraking if rear traffic is present), a better lane detection function inlow sun or low lighting conditions (with improved availability of laneinformation such as, for example, for LKA, LDW and the like), a fullautonomous driving function including autonomous lane change to overtakeslower cars, construction area driving and lane merges, an autonomouspull-over maneuver function in case of an incapacitated and/orunresponsive driver, an automatic trailer hookup function (which isoperable to guide the vehicle to a trailer), a trailer backup function(which is operable to automatically steer the vehicle based on a driverselected trajectory), an automatic parking (parallel, perpendicular)function with drive in control of longitudinal movement, an autonomous /remote controlled parking (parallel, perpendicular) function, a trafficsign recognition (TSR) extension to height limitation signs, a parkingpath height detection function, an AEB function during a reversing orbackup maneuver, a traffic sign recognition (TSR) to set ACC speed (soas to provide a speed limiter function or the like), a ball detectionfunction, a pedestrian impact detection function to activate active apedpro system (such as to use a camera to replace an existing sensor orin addition to another impact sensor), a road friction estimationfunction (such as for determining if the vehicle is traveling on snow,gravel, ice or the like) to adjust the AEB thresholds and/or curve speedwarning, a pothole depth and speed bump height estimation function foran active suspension control, a read license plate of preceding /following vehicle function (such as, for example, for Amber Alertnotifications and the like), a curb detection / warning if a curb is toohigh to drive onto (such as if the vehicle is being driven towards acurb, so as to limit or prevent damage to the wheels or rims of thevehicle), an application of 3D information to parking situationsfunction, a perspective correction function for a more accurate birdseye view (more realistic image), an ACC function that limits orprecludes acceleration of the subject vehicle when the subject vehicleis being overtaken by another vehicle, and/or a lighting controlfunction (such as providing an adjust lighting decision based onknowledge or other car overtaking of driving parallel to the subjectvehicle, and/or the like.

Optionally, the vision system of the present invention may be operableto provide various functions. For example, the vision system may operatewith or be associated with an adaptive automatic emergency braking (AEB)system of the vehicle, such that, when the subject vehicle determinesthat braking is desired or appropriate, the subject vehicle may, forexample, brake earlier and/or harder, if no vehicle is following (asdetermined by image processing of the image data captured by therearward facing camera), and risk of rear end collision is low, or maybrake later, if the vision system determines that a vehicle isfollowing, and the risk of rear end collision is higher. Optionally, thevision system may provide improved or enhanced lane detection at low sun/ and increased availability of LDW based on detecting lanes in the rearcamera images. Optionally, the vision system may provide rear pedestriandetection, and may provide a warning or may brake if a pedestrian isdetected in the rear images, such as during a reversing maneuver of thevehicle. Optionally, the vision system may provide a rear objectdetection, and may provide a warning or the like if a general object isdetected in the rear images. Optionally, the vision system may provide arear cross traffic alert function, and may detect or determine crossingvehicles and may be operable to alert or warn the driver of the subjectvehicle of crossing vehicles when the driver is reversing or backing upthe subject vehicle.

For example, the vision system may provide pedestrian detection whenbacking up by determining when a pedestrian is present in the rearwardfield of view of the camera. The system may detect standing / walkingadults and children at relevant ranges, with reasonable false alarm rate(such as, for example, 1 false detection per 50 or more backupmaneuvers). The system may utilize pedestrian detection andclassification aspects from a front object detection system applied torear image processing (FIG. 11 ). The system may use additional crossingcues for moving pedestrians. The system may determine that a detectedobject is a pedestrian and generate an output based on various aspectsof the object, such as a lateral distance to the object, a longitudinaldistance to the object, the object height, the object width, anX-position in the captured image and/or a Y-position in the capturedimage and/or the like. The vision system thus may reduce the risk ofback-over accidents, and, if driver is not looking at the rear cameradisplay (such as indicated by the driver not braking the vehicle whenthe display shows an object or pedestrian rearward of the vehicle duringa reversing maneuver), the system may generate an alert to warn thedriver of a rear pedestrian detection and/or generate automatic brakingto slow or stop the vehicle.

Similarly, the vision system may provide a rear object detectionfunction to detect larger objects rearward of the vehicle (FIG. 12 ).The vision system may utilize SFM (structure from motion) and use imagesequences to compute a dense three dimensional map of the road andstationary objects above the road, and the system may use lateral motiondetection for general moving objects. The vision system thus may reducethe risk of back-over accidents, and, if driver is not looking at therear camera display, the system may generate an alert to warn the driverof a rear pedestrian detection and/or generate automatic braking to slowor stop the vehicle.

Optionally, the vision system may provide a rear cross traffic alertfunction and may detect crossing vehicles in or approaching the rearwardpath of the subject vehicle during a reversing maneuver of the subjectvehicle (FIG. 13 ). The system may utilize vehicle detection (patternbased) and lateral motion detection to identify cross traffic and warnthe driver of the subject vehicle based on such detection andidentification. The algorithm performance of the system may depend onthe quality of the images and vehicles in image. For example, the systemmay detect sideward approaching vehicles from up to about 30 m to eitherside of the subject vehicle. Optionally, and desirably, the system mayoptimize rear camera distortion correction to work with the vehicledetection algorithm to enhance such detection and identification ofapproaching vehicles. The vision system thus limits or substantiallyreduces collisions with crossing traffic rearward of the subject vehicleduring a reversing maneuver of the subject vehicle, and the system maygenerate an alert to warn the driver of the subject vehicle of anapproaching vehicle (and may identify or inform the driver as to whichside of the subject vehicle the detected vehicle is approaching from).

Optionally, the vision system may provide an adaptive automaticemergency braking (AEB) function (FIGS. 14 and 15 ). For example, theAEB may be based on the presence of a following vehicle (a vehiclefollowing the subject vehicle) when the subject vehicle vision systemhas detected a vehicle or object ahead of the subject vehicle thatpresents a condition or situation that may require braking of thesubject vehicle to avoid a collision with the detected object orvehicle. The AEB system is operable to brake earlier and/or harder if novehicle is detected behind or following the subject vehicle, and therisk of a rear end collision is thus low, and/or the AEB system isoperable to brake later if a vehicle is detected behind or following thesubject vehicle, and risk of a rear end collision is thus higher. Thesystem may utilize pattern based vehicle detection to detect vehicles(such as vehicles up to about 50 to 60 meters (or more) ahead and/orbehind the subject vehicle) and may determine if a detected followingvehicle object is in the same lane or adjacent lane as the subjectvehicle and may determine the distance that the detected followingvehicle is behind the subject vehicle, and may adapt the brakingapplication accordingly. The vision system may provide an earlierwarning to the driver of the subject vehicle and may provide a reducedrisk of false brake activation.

Optionally, the vision system may utilize rear image processing for lanedetection (FIG. 16 ). For example, the system may apply lane detectionand tracking aspects from front image processing to rear images capturedby one or more rearward facing cameras of the vehicle. The system maydetect the lane markings and may determine the lateral distance to aleft or right lane marking, and may control steering and/or provide analert to the driver responsive to the detected distance to the lanemarkings. The system thus provides increased availability of laneinformation to the driver, and may warn the driver even where lanedeparture prevention (LDP) from the front camera may not be available,such as in low lighting conditions or situations, traffic jams (whenpreceding vehicles block lane markings), tunnel entry and/or the like.Optionally, it is envisioned that the rear lane detection of the presentinvention may be used for autonomous driving / lane keeping where highlane data availability is important.

The vision system of the present invention may capture rearward imagesand may display different aspects or portions of the captured images fordifferent information display functions (such as during a reversingmaneuver and the like, where a wide angle rearward image is desired).For example, and with reference to FIGS. 17 and 18 , the system mayprovide an uncorrected raw view, a corrected wide view, a normal viewand a top view for different functions or applications. Preferably, thevision system will apply the image processing (for object detection andthe like) to one of the views, such as the corrected wide view, which ispresentable to the driver at the display screen, and provides a wideangle field of view for rear cross traffic detection. While the normalview and the top view are also presentable to the driver, the normalview is not typically wide enough for rear cross traffic detection andthe top view is a special view with limited range.

Optionally, and with reference to FIG. 19 , the vision system may beoperable to process image data captured from a front camera and imagedata captured from a rear camera using a common image processor (such asby utilizing aspects of the systems described in U.S. Pat. No.7,855,755, which is hereby incorporated herein by reference in itsentirety). The system may utilize NTSC rear video or may utilize a rearmegapixel camera or the like. By relying on the rear camera to createthree different view modes (wide, normal, top-view), the cross trafficalert will only work when the rear camera is in wide view mode. Becausethe view mode is typically selected by the driver using hardwiredconnections, the system does not control the view mode. The systemrelies on the display to create overlays, so the system preferably canmanage latency problems between detection and overlay presentation. Anadvantage to this type of system is that it may provide the desiredfeatures at a relatively lower cost or reduced cost.

Optionally, and with reference to FIG. 19 , the vision system maycomprise a forward facing camera and a rearward facing camera and aseparate common image processor. In the illustrated embodiment, the rearcamera images are transmitted via LVDS (preferably over coaxial cables)to the image processor (such as an EYEQ2 or EYEQ3 image processoravailable from Mobileye Vision Technologies Ltd. of Jerusalem, Israel),and the communication cables may utilize aspects of the systemsdescribed in International Publication No. WO 2013/043661, which ishereby incorporated by reference in its entirety. The image processor isoperable to interpret the image, and also creates the different viewsdesired by vehicle manufacturer, including cropping, distortioncorrection, and overlay generation. The visual image manipulation isimplemented by algorithms or code running on the image processor, andthe image is then sent to the display in a “ready to view” format.

Because the vision system of FIG. 19 adds two video connectors to thefront camera, it may not be ideal for typical forward facing camera orimager package at the windshield. Instead, the vision system of FIG. 19separates the front camera and the image processor and thus provides atwo-box solution, with the image processing board being removed from thecamera and disposed at or in a second box or module or unit that can bepackaged anywhere in the vehicle. The vision system thus may meet thecross traffic requirements, including the hardwired interfaces for whichthere typically is not enough connector space at the windshield, and thesystem may achieve better overall system performance, since there ismore information provided from the rear imager (both by virtue of beinghigher resolution and by providing pixel accurate data), and the systemmay be able to run cross traffic alerts with all of the desired views.

The vision system thus may feed video from a rear imager or rearwardfacing camera and may feed video from a front imager or forward facingcamera into a separate and common image processing unit or module wherethere is separation between image manipulation software for processingimages for display and image data processing for processing image datafor object detection and/or the like. The image processor is thusdecoupled from both imagers and could be disposed anywhere in thevehicle (and optionally could be disposed at or near or in the forwardfacing camera module). The image processor has both front and rearcamera feeds and can process image data from both camerassimultaneously. The system thus utilizes software building blocks thatcan be applied to the front and rear images. The common image processormay be operable to utilize SFM on the front and rear images, and theimage data or processed output may be passed to other algorithms forimage manipulation for presenting the information for viewing by thedriver at the display screen. The system may utilize coaxial cable thatcarries the camera or image signal and power bi-directionally. Suchcables reduce the cost of the transmission/communication and makes theoption of having a separate common image processor more attractive tothe vehicle manufacturer (due to the lower cost cables and connectorssuch that the additional connectors and cables do not significantly addto the cost of the system).

In applications where the system operates as an automatic emergencybraking system, it is important that a certain degree of safeness ofabsence of unjustified braking events is provided. Customers (driven byISO26262) require certain theoretical analysis to guarantee a vehicle is“safe” (in the case of an emergency braking system, such safety isdefined as “lack of unjustified brake events”). It is difficult totheoretically prove that the system (such as the image processor, suchas a Mobileye EYEQ type image processor or the like) doesn’t causeunjustified brake events. However, ISO26262 also accepts a “proven inuse” argument that may be used for camera-based emergency braking. Themethod to develop an emergency braking system that utilizes such a“proven in use” feature comprises the following steps:

-   1. Develop a signal to initiate emergency braking. For example, this    signal could be generated when the determined “time to contact”    (TTC) is less than about 0.7 sec and the vehicle speed is less than    80 km/h.-   2. During a first time period, the system may monitor all vehicles    in which the signal occurs. This can be done using a Trip Statistics    and Alert Data Download (TSADD) feature. As part of this feature,    vehicle data (including, for example, vehicle speed, brake    activation, and/or compressed camera images or the like) may be    collected that allows an evaluation as to whether or not the signal    was justified. The vehicle data may be collected via any suitable    means, such as through a telematics system of the vehicle (such as,    for example, ONSTAR^(®)) or the like.-   3. The system evaluates the signals that occurred in a large set of    vehicles and over a prolonged period of time. In other words, the    system uses more than just a handful of test vehicles, and instead    may monitor, for example, about 100,000 (or more or less) customer    vehicles over the course of several months to a year (or more or    less) to collect a statistically significant set of signals.-   4. If, in step 3, it can be concluded that the signal is clear of    unjustified brake events, the system may use the signal which has    now been proven in use to automatically activate brakes when the    appropriate condition is detected.

Thus, the present invention is operable to provide an enhanceddetermination of the safeness of the AEB system by determining and usingsignals and parameters that have been tested in real life situations anddetermined to have resulted in few or no unjustified braking events. Thepresent invention uses “proven in use” signals and parameters to derivean appropriate signal for that vehicle and/or vehicle type and/ordriving conditions and/or the like.

The cameras or sensors may comprise any suitable cameras or sensors.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inPCT Application No. PCT/US2012/066570, filed Nov. 27, 2012, andpublished on Jun. 6, 2013 as International Publication No. WO2013/081984, and/or PCT Application No. PCT/US2012/066571, filed Nov.27, 2012, and published Jun. 6, 2013 as International Publication No. WO2013081985, which are hereby incorporated herein by reference in theirentireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise anEYEQ2 or EYEQ3 image processing chip available from Mobileye VisionTechnologies Ltd. of Jerusalem, Israel, and may include object detectionsoftware (such as the types described in U.S. Pat. Nos. 7,855,755;7,720,580 and/or 7,038,577, which are hereby incorporated herein byreference in their entireties), and may analyze image data to detectvehicles and/or other objects. Responsive to such image processing, andwhen an object or other vehicle is detected, the system may generate analert to the driver of the vehicle and/or may generate an overlay at thedisplayed image to highlight or enhance display of the detected objector vehicle, in order to enhance the driver’s awareness of the detectedobject or vehicle or hazardous condition during a driving maneuver ofthe equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ladar sensors or ultrasonicsensors or the like. The imaging sensor or camera may capture image datafor image processing and may comprise any suitable camera or sensingdevice, such as, for example, an array of a plurality of photosensorelements arranged in at least 640 columns and 480 rows (at least a 640 x480 imaging array, such as a megapixel imaging array or the like), witha respective lens focusing images onto respective portions of the array.The photosensor array may comprise a plurality of photosensor elementsarranged in a photosensor array having rows and columns. The logic andcontrol circuit of the imaging sensor may function in any known manner,and the image processing and algorithmic processing may comprise anysuitable means for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 7,005,974;5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545;6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268;6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563;6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519;7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928;7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772,and/or International Publication Nos. WO 2011/028686; WO 2010/099416; WO2012/061567; WO 2012/068331; WO 2012/075250; WO 2012/103193; WO2012/0116043; WO 2012/0145313; WO 2012/0145501; WO 2012/145818; WO2012/145822; WO 2012/158167; WO 2012/075250; WO 2012/103193; WO2012/0116043; WO 2012/0145501; WO 2012/0145343; WO 2012/154919; WO2013/019707; WO 2013/016409; WO 20102/145822; WO 2013/043661; WO2013/048994, and/or PCT Application No. PCT/US2012/061548, filed Oct.24, 2012, and published on May 2, 2013 as International Publication No.WO 2013/063014, and/or PCT Application No. PCT/US2012/062906, filed Nov.1, 2012, and published May 10, 2013 as International Publication No. WO2013/067083, and/or PCT Application No. PCT/US2012/063520, filed Nov. 5,2012, and published May 16, 2013 as International Publication No. WO2013/070539, and/or PCT Application No. PCT/US2012/064980, filed Nov.14, 2012, and published May 23, 2013 as International Publication No. WO2013/074604, and/or PCT Application No. PCT/US2012/066570, filed Nov.27, 2012, and published Jun. 6, 2013 as International Publication No. WO2013/081984, and/or PCT Application No. PCT/US2012/066571, filed Nov.27, 2012, and published Jun. 6, 2013 as International Publication No. WO2013/081985, and/or PCT Application No. PCT/US2012/068331, filed Dec. 7,2012, and published Jun. 13, 2013 as International Publication No. WO2013/086249, and/or PCT Application No. PCT/US2012/071219, filed Dec.21, 2012, and published Jul. 11, 2013 as International Publication No.WO 2013/103548, and/or PCT Application No. PCT/US2013/022119, filed Jan.18, 2013, and published Jul. 25, 2013 as International Publication No.WO 2013/109869, and/or PCT Application No. PCT/US2013/026101, filed Feb.14, 2013, and published Aug. 22, 2013 as International Publication No.WO 2013/123161, and/or PCT Application No. PCT/US2013/027342, filed Feb.22, 2013, and published Aug. 9, 2013 as International Publication No. WO2013/126715, and/or PCT Application No. PCT/US2013/036701, filed Apr.16, 2013, and published Oct. 24, 2013 as International Publication No.WO 2013/158592 and/or U.S. Pat. applications, Ser. No. 13/851,378, filedMar. 27, 2013, now U.S. Pat. No. 9,319,637; Ser. No. 13/848,796, filedMar. 22, 2013, and published on Oct. 24, 2013 as U.S. Pat. PublicationNo. US-2013-0278769; Ser. No. 13/847,815, filed Mar. 20, 2013, andpublished on Oct. 31, 2013 as U.S. Pat. Publication No. US-2013-0286193;Ser. No. 13/800,697, filed Mar. 13, 2013, and published on Oct. 3, 2013as U.S. Pat. Publication No. US-2013-0258077; Ser. No. 13/785,099, filedMar. 5, 2013, now U.S. Pat. No. 9,565,342; Ser. No. 13/779,881, filedFeb. 28, 2013, now U.S. Pat. No. 8,694,224; Ser. No. 13/774,317, filedFeb. 22, 2013, now U.S. Pat. No. 9,269,263; Ser. No. 13/774,315, filedFeb. 22, 2013, and published on Aug. 22, 2013 as U.S. Pat. PublicationNo. US-2013-0215271 ; Ser. No. 13/681,963, filed Nov. 20, 2012, now U.S.Pat. No. 9,264,673; Ser. No. 13/660,306, filed Oct. 25, 2012, now U.S.Pat. No. 9,146,898; Ser. No. 13/653,577, filed Oct. 17, 2012, now U.S.Pat. No. 9,174,574; and/or Ser. No. 13/534,657, filed Jun. 27, 2012, andpublished on Jan. 3, 2013 as U.S. Pat. Publication No. US-2013-0002873,and/or U.S. Provisional applications, Ser. No. 61/813,361, filed Apr.18, 2013; Ser. No. 61/840,407, filed Apr. 10, 2013; Ser. No. 61/808,930,filed Apr. 5, 2013; Ser. No. 61/807,050, filed Apr. 1, 2013; Ser. No.61/806,674, filed Mar. 29, 2013; Ser. No. 61/806,673, filed Mar. 29,2013; Ser. No. 61/804,786, filed Mar. 25, 2013; Ser. No. 61/793,592,filed Mar. 15, 2013; Ser. No. 61/793,614, filed Mar. 15, 2013; Ser. No.61/793,558, filed Mar. 15, 2013; Ser. No. 61/772,015, filed Mar. 4,2013; Ser. No. 61/772,014, filed Mar. 4, 2013; Ser. No. 61/770,051,filed Feb. 27, 2013; Ser. No. 61/770,048, filed Feb. 27, 2013; Ser. No.61/766,883, filed Feb. 20, 2013; Ser. No. 61/760,366, filed Feb. 4,2013; Ser. No. 61/760,364, filed Feb. 4, 2013; Ser. No. 61/758,537,filed Jan. 30, 2013; Ser. No. 61/756,832, filed Jan. 25, 2013; Ser. No.61/754,804, filed Jan. 21, 2013; Ser. No. 61/745,925, filed Dec. 26,2012; Ser. No. 61/745,864, filed Dec. 26, 2012; Ser. No. 61/736,104,filed Dec. 12, 2012; Ser. No. 61/736,103, filed Dec. 12, 2012; Ser. No.61/735,314, filed Dec. 10, 2012; Ser. No. 61/734,457, filed Dec. 7,2012; Ser. No. 61/733,598, filed Dec. 5, 2012; Ser. No. 61/733,093,filed Dec. 4, 2012; Ser. No. 61/727,912, filed Nov. 19, 2012; Ser. No.61/727,911, filed Nov. 19, 2012; Ser. No. 61/727,910, filed Nov. 19,2012; Ser. No. 61/718,382, filed Oct. 25, 2012; Ser. No. 61/713,772,filed Oct. 15, 2012; Ser. No. 61/710,924, filed Oct. 8, 2012; Ser. No.61/710,247, filed Oct. 2, 2012; Ser. No. 61/696,416, filed Sep. 4, 2012;Ser. No. 61/682,995, filed Aug. 14, 2012; Ser. No. 61/682,486, filedAug. 13, 2012; Ser. No. 61/680,883, filed Aug. 8, 2012; Ser. No.61/678,375, filed Aug. 1, 2012; Ser. No. 61/676,405, filed Jul. 27,2012; Ser. No. 61/666,146, filed Jun. 29, 2012; Ser. No. 61/653,665,filed May 31, 2012; Ser. No. 61/653,664, filed May 31, 2012; Ser. No.61/648,744, filed May 18, 2012, which are all hereby incorporated hereinby reference in their entireties. The system may communicate with othercommunication systems via any suitable means, such as by utilizingaspects of the systems described in International Publication Nos. WO2013/043661 and/or WO 2010/144900, and/or PCT Application No.PCT/US2012/066571, filed Nov. 27, 2012, and published Jun. 6, 2013 asInternational Publication No. WO 2013081985, and/or U.S. Pat.application Ser. No. 13/202,005, filed Aug. 17, 2011, now U.S. Pat. No.9,126,525, which are hereby incorporated herein by reference in theirentireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras and vision systemsdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,937,667;7,123,168; 7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176;6,313,454 and 6,824,281, and/or International Publication Nos. WO2010/099416 and/or WO 2011/028686, and/or U.S. Pat. application Ser. No.12/508,840, filed Jul. 24, 2009, and published Jan. 28, 2010 as U.S.Pat. Publication No. US 2010-0020170, and/or PCT Application No.PCT/US2012/048110, filed Jul. 25, 2012, and published on Jan. 31, 2013as International Publication No. WO 2013/016409, and/or U.S. Pat.application Ser. No. 13/534,657, filed Jun. 27, 2012, and published onJan. 3, 2013 as U.S. Pat. Publication No. US-2013-0002873, which are allhereby incorporated herein by reference in their entireties. The cameraor cameras may comprise any suitable cameras or imaging sensors orcamera modules, and may utilize aspects of the cameras or sensorsdescribed in U.S. Pat. applications, Ser. No. 12/091,359, filed Apr. 24,2008 and published Oct. 1, 2009 as U.S. Publication No. US-2009-0244361;and/or Ser. No. 13/260,400, filed Sep. 26, 2011, now U.S. Pat. No.8,542,451, and/or U.S. Pat. Nos. 7,965,336 and/or 7,480,149, which arehereby incorporated herein by reference in their entireties. The imagingarray sensor may comprise any suitable sensor, and may utilize variousimaging sensors or imaging array sensors or cameras or the like, such asa CMOS imaging array sensor, a CCD sensor or other sensors or the like,such as the types described in U.S. Pat. Nos. 5,550,677; 5,670,935;5,760,962; 5,715,093; 5,877,897; 6,922,292; 6,757,109; 6,717,610;6,590,719; 6,201,642; 6,498,620; 5,796,094; 6,097,023; 6,320,176;6,559,435; 6,831,261; 6,806,452; 6,396,397; 6,822,563; 6,946,978;7,339,149; 7,038,577; 7,004,606; 7,720,580 and/or 7,965,336, and/orInternational Publication Nos. WO 2009/036176 and/or WO 2009/046268,which are all hereby incorporated herein by reference in theirentireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,720,580; 7,038,577; 5,929,786and/or 5,786,772, and/or U.S. pat. applications, Ser. No. 11/239,980,filed Sep. 30, 2005, now U.S. Pat. No. 7,881,496, and/or U.S.Provisional applications, Ser. No. 60/628,709, filed Nov. 17, 2004; Ser.No. 60/614,644, filed Sep. 30, 2004; Ser. No. 60/618,686, filed Oct. 14,2004; Ser. No. 60/638,687, filed Dec. 23, 2004, which are herebyincorporated herein by reference in their entireties, a video device forinternal cabin surveillance and/or video telephone function, such asdisclosed in U.S. Pat. Nos. 5,760,962; 5,877,897; 6,690,268 and/or7,370,983, and/or U.S. Pat. application Ser. No. 10/538,724, filed Jun.13, 2005 and published Mar. 9, 2006 as U.S. Publication No.US-2006-0050018, which are hereby incorporated herein by reference intheir entireties, a traffic sign recognition system, a system fordetermining a distance to a leading or trailing vehicle or object, suchas a system utilizing the principles disclosed in U.S. Pat. Nos.6,396,397 and/or 7,123,168, which are hereby incorporated herein byreference in their entireties, and/or the like.

Optionally, the circuit board or chip may include circuitry for theimaging array sensor and or other electronic accessories or features,such as by utilizing compass-on-a-chip or EC driver-on-a-chip technologyand aspects such as described in U.S. Pat. No. 7,255,451 and/or U.S.Pat. No. 7,480,149; and/or U.S. patent applications, Ser. No.11/226,628, filed Sep. 14, 2005 and published Mar. 23, 2006 as U.S.Publication No. US-2006-0061008, and/or Ser. No. 12/578,732, filed Oct.14, 2009, now U.S. Pat. No. 9,487,144, which are hereby incorporatedherein by reference in their entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device disposed at or in the interior rearview mirror assemblyof the vehicle, such as by utilizing aspects of the video mirror displaysystems described in U.S. Pat. No. 6,690,268 and/or U.S. patentapplication Ser. No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No.9,264,672, which are hereby incorporated herein by reference in theirentireties. The video mirror display may comprise any suitable devicesand systems and optionally may utilize aspects of the compass displaysystems described in U.S. Pat. Nos. 7,370,983; 7,329,013; 7,308,341;7,289,037; 7,249,860; 7,004,593; 4,546,551; 5,699,044; 4,953,305;5,576,687; 5,632,092; 5,677,851; 5,708,410; 5,737,226; 5,802,727;5,878,370; 6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or 6,642,851,and/or European patent application, published Oct. 11, 2000 underPublication No. EP 0 1043566, and/or U.S. Pat. application Ser. No.11/226,628, filed Sep. 14, 2005 and published Mar. 23, 2006 as U.S.Publication No. US-2006-0061008, which are all hereby incorporatedherein by reference in their entireties. Optionally, the video mirrordisplay screen or device may be operable to display images captured by arearward viewing camera of the vehicle during a reversing maneuver ofthe vehicle (such as responsive to the vehicle gear actuator beingplaced in a reverse gear position or the like) to assist the driver inbacking up the vehicle, and optionally may be operable to display thecompass heading or directional heading character or icon when thevehicle is not undertaking a reversing maneuver, such as when thevehicle is being driven in a forward direction along a road (such as byutilizing aspects of the display system described in InternationalPublication No. WO 2012/051500, which is hereby incorporated herein byreference in its entirety).

Optionally, the vision system (utilizing the forward facing camera and arearward facing camera and other cameras disposed at the vehicle withexterior fields of view) may be part of or may provide a display of atop-down view or birds-eye view system of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed International Publication Nos. WO 2010/099416; WO 2011/028686;WO 2012/075250; WO 2013/019795; WO 2012-075250; WO 2012/154919; WO2012/0116043; WO 2012/0145501 and/or WO 2012/0145313, and/or PCTApplication No. PCT/CA2012/000378, filed Apr. 25, 2012, and publishedNov. 1, 2012 as International Publication No. WO 2012/145822, and/or PCTApplication No. PCT/US2012/066571, filed Nov. 27, 2012, and publishedJun. 6, 2013 as International Publication No. WO 2013081985, and/or PCTApplication No. PCT/US2012/068331, filed Dec. 7, 2012, and publishedJun. 13, 2013 as International Publication No. WO 2013/086249, and/orPCT Application No. PCT/US2013/022119, filed Jan. 18, 2013, andpublished Jul. 25, 2013 as International Publication No. WO 2013/109869,and/or U.S. Pat. application Ser. No. 13/333,337, filed Dec. 21, 2011,now U.S. Pat. No. 9,264,672, which are hereby incorporated herein byreference in their entireties.

Optionally, a video mirror display may be disposed rearward of andbehind the reflective element assembly and may comprise a display suchas the types disclosed in U.S. Pat. Nos. 5,530,240; 6,329,925;7,855,755; 7,626,749; 7,581,859; 7,446,650; 7,370,983; 7,338,177;7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663; 5,724,187 and/or6,690,268, and/or in U.S. Pat. applications, Ser. No. 12/091,525, filedApr. 25, 2008, now U.S. Pat. No. 7,855,755; Ser. No. 11/226,628, filedSep. 14, 2005 and published Mar. 23, 2006 as U.S. Publication No.US-2006-0061008; and/or Ser. No. 10/538,724, filed Jun. 13, 2005 andpublished Mar. 9, 2006 as U.S. Publication No. US-2006-0050018, whichare all hereby incorporated herein by reference in their entireties. Thedisplay is viewable through the reflective element when the display isactivated to display information. The display element may be any type ofdisplay element, such as a vacuum fluorescent (VF) display element, alight emitting diode (LED) display element, such as an organic lightemitting diode (OLED) or an inorganic light emitting diode, anelectroluminescent (EL) display element, a liquid crystal display (LCD)element, a video screen display element or backlit thin film transistor(TFT) display element or the like, and may be operable to displayvarious information (as discrete characters, icons or the like, or in amulti-pixel manner) to the driver of the vehicle, such as passenger sideinflatable restraint (PSIR) information, tire pressure status, and/orthe like. The mirror assembly and/or display may utilize aspectsdescribed in U.S. Pat. Nos. 7,184,190; 7,255,451; 7,446,924 and/or7,338,177, which are all hereby incorporated herein by reference intheir entireties. The thicknesses and materials of the coatings on thesubstrates of the reflective element may be selected to provide adesired color or tint to the mirror reflective element, such as a bluecolored reflector, such as is known in the art and such as described inU.S. Pat. Nos. 5,910,854; 6,420,036 and/or 7,274,501, which are herebyincorporated herein by reference in their entireties.

Optionally, the display or displays and any associated user inputs maybe associated with various accessories or systems, such as, for example,a tire pressure monitoring system or a passenger air bag status or agarage door opening system or a telematics system or any other accessoryor system of the mirror assembly or of the vehicle or of an accessorymodule or console of the vehicle, such as an accessory module or consoleof the types described in U.S. Pat. Nos. 7,289,037; 6,877,888;6,824,281; 6,690,268; 6,672,744; 6,386,742 and 6,124,886, and/or U.S.Pat. application Ser. No. 10/538,724, filed Jun. 13, 2005 and publishedMar. 9, 2006 as U.S. Publication No. US-2006-0050018, which are herebyincorporated herein by reference in their entireties.

Changes and modifications to the specifically described embodiments maybe carried out without departing from the principles of the presentinvention, which is intended to be limited only by the scope of theappended claims as interpreted according to the principles of patentlaw.

1. A vehicular rear backup system, the vehicular rear backup systemcomprising: a rear backup camera disposed at an exterior portion of avehicle equipped with the vehicular rear backup system and viewing atleast rearward of the equipped vehicle; the rear backup cameracomprising an imaging sensor; wherein the imaging sensor of the rearbackup camera comprises a megapixel array having at least one millionphotosensors arranged in multiple columns and multiple rows; wherein therear backup camera is operable to capture image data; wherein the rearbackup camera comprises a serializer operable to serialize image datacaptured by the rear backup camera; an electronic control unit (ECU);wherein the ECU comprises (i) a de-serializer, (ii) an electrical powersource and (iii) an image processor; wherein the rear backup cameraconnects with the ECU via a first cable; wherein communication betweenthe rear backup camera and the ECU via the first cable is bidirectional;wherein electrical power for the rear backup camera is carried from theECU to the rear backup camera via the first cable; wherein image datacaptured by the imaging sensor of the rear backup camera is converted atthe serializer to serialized image data that is carried to the ECU viathe first cable; wherein serialized image data carried to the ECU viathe first cable is de-serialized at the de-serializer of the ECU to formde-serialized image data; wherein, responsive at least in part toprocessing at the ECU of de-serialized image data derived from imagedata captured by the imaging sensor of the rear backup camera, thevehicular rear backup system is operable to detect an object presentrearward of the equipped vehicle during a rear backup maneuver of theequipped vehicle; and wherein video images derived at least in part froman output generated at the ECU via processing at the ECU ofde-serialized image data derived from image data captured by the imagingsensor of the rear backup camera are displayed at a video display deviceof the equipped vehicle during the rear backup maneuver of the equippedvehicle, the video display device comprising a video display screenviewable by a driver of the equipped vehicle.
 2. The vehicular rearbackup system of claim 1, wherein, at least in part responsive toprocessing at the ECU of de-serialized image data, the vehicular rearbackup system determines that the detected object comprises apedestrian.
 3. The vehicular rear backup system of claim 2, wherein, atleast in part responsive to processing at the ECU of de-serialized imagedata, the vehicular rear backup system distinguishes a pedestrian who isa child from a pedestrian who is an adult.
 4. The vehicular rear backupsystem of claim 2, wherein the ECU connects with a vehicle communicationbus of the equipped vehicle.
 5. The vehicular rear backup system ofclaim 4, wherein the vehicle communication bus of the equipped vehiclecomprises a CAN bus.
 6. The vehicular rear backup system of claim 2,wherein, responsive to the vehicular rear backup system determining thatthe detected object comprises a pedestrian, the vehicular rear backupsystem controls braking of the equipped vehicle.
 7. The vehicular rearbackup system of claim 6, wherein the vehicular rear backup systemcontrols braking of the equipped vehicle based at least in part on anenvironment in which the equipped vehicle is driven.
 8. The vehicularrear backup system of claim 7, wherein the environment comprisespresence of pedestrian traffic rearward of the equipped vehicle.
 9. Thevehicular rear backup system of claim 7, wherein the environmentcomprises presence of vehicles rearward of the equipped vehicle.
 10. Thevehicular rear backup system of claim 1, wherein communication betweenthe rear backup camera and the ECU utilizes Low-Voltage DifferentialSignaling (LVDS).
 11. The vehicular rear backup system of claim 1wherein the output generated at the ECU via processing at the ECU ofde-serialized image data derived from image data captured by the imagingsensor of the rear backup camera is provided to the video display devicevia a second cable.
 12. The vehicular rear backup system of claim 1,wherein the image processor comprises an image processing chip.
 13. Thevehicular rear backup system of claim 1, wherein, responsive toprocessing at the ECU of de-serialized image data derived from imagedata captured by the imaging sensor of the rear backup camera, andresponsive at least in part to determination by the vehicular rearbackup system that the equipped vehicle and the detected object maycollide, the vehicular rear backup system at least in part controls abraking system of the equipped vehicle.
 14. The vehicular rear backupsystem of claim 1, wherein the output generated at the ECU viaprocessing at the ECU of de-serialized image data derived from imagedata captured by the imaging sensor of the rear backup camera is atleast in part generated via processing by the image processor at the ECUof de-serialized image data.
 15. The vehicular rear backup system ofclaim 14, wherein the image processor comprises an image processingchip.
 16. The vehicular rear backup system of claim 15, wherein, duringthe rear backup maneuver of the equipped vehicle and at least in partresponsive to processing at the ECU of de-serialized image data, thedriver of the equipped vehicle is alerted to presence of a pedestrianviewed by the rear backup camera via an overlay overlaying video imagesderived at least in part from the output generated at the ECU viaprocessing at the ECU of de-serialized image data derived from imagedata captured by the imaging sensor of the rear backup camera anddisplayed at the video display device of the equipped vehicle during therear backup maneuver of the equipped vehicle.
 17. The vehicular rearbackup system of claim 1, further comprising a front camera disposed atan exterior portion of the equipped vehicle, and wherein, with the frontcamera disposed at the exterior portion of the equipped vehicle, thefront camera at least views forward of the equipped vehicle, and whereinthe front camera comprises an imaging sensor comprising an array of atleast one million photosensor elements arranged in multiple columns andmultiple rows, and wherein the front camera is operable to capture imagedata, and wherein the front camera comprises a second serializeroperable to serialize image data captured by the front camera, andwherein the ECU comprises a second de-serializer, and wherein the frontcamera connects with the ECU via a second cable, and wherein image datacaptured by the imaging sensor of the front camera is converted at thesecond serializer to second serialized image data that is carried to theECU via the second cable, and wherein second serialized image datacarried to the ECU via the second cable is de-serialized at the secondde-serializer of the ECU to form second de-serialized image data. 18.The vehicular rear backup system of claim 17, wherein video imagesderived at least in part from an output generated at the ECU viaprocessing at the ECU of de-serialized image data derived from imagedata captured by the imaging sensor of the front camera are displayed atthe video display device of the equipped vehicle, and wherein the outputgenerated at the ECU via processing at the ECU of de-serialized imagedata derived from image data captured by the imaging sensor of the frontcamera is at least in part generated via processing at the ECU of secondde-serialized image data.
 19. The vehicular rear backup system of claim18, wherein, at least in part responsive to processing at the ECU ofsecond de-serialized image data, the vehicular rear backup system isoperable to detect an object approaching the equipped vehicle fromforward of the equipped vehicle.
 20. The vehicular rear backup system ofclaim 17, wherein the rear backup camera is part of a multi-camerasurround view system of the equipped vehicle, and wherein themulti-camera surround view system of the equipped vehicle includes fourcameras comprising (i) the front camera, (ii) the rear backup camera,(iii) a driver-side sideview camera and (iv) a passenger-side sideviewcamera.
 21. The vehicular rear backup system of claim 20, wherein imagedata captured by the four cameras of the multi-camera surround viewsystem of the equipped vehicle is provided to, and is processed at, theECU, and wherein, responsive to processing at the ECU of image datacaptured by the four cameras and provided to the ECU, surround viewvideo images of an environment at least partially surrounding theequipped vehicle are displayed at the video display device.
 22. Thevehicular rear backup system of claim 1, wherein the vehicular rearbackup system detects a pedestrian standing rearward of the equippedvehicle.
 23. The vehicular rear backup system of claim 1, wherein thevehicular rear backup system detects a pedestrian walking rearward ofthe equipped vehicle.
 24. The vehicular rear backup system of claim 1,wherein the output generated at the ECU via processing at the ECU ofde-serialized image data derived from image data captured by the imagingsensor of the rear backup camera is generated based on at least oneselected from the group consisting of (i) lateral distance to thedetected object, (ii) longitudinal distance to the detected object,(iii) height of the detected object, (iv) width of the detected objectand (v) position of the detected object.
 25. A vehicular rear backupsystem, the vehicular rear backup system comprising: a rear backupcamera disposed at an exterior portion of a vehicle equipped with thevehicular rear backup system and viewing at least rearward of theequipped vehicle; the rear backup camera comprising an imaging sensor;wherein the imaging sensor of the rear backup camera comprises amegapixel array having at least one million photosensors arranged inmultiple columns and multiple rows; wherein the rear backup camera isoperable to capture image data; wherein the rear backup camera comprisesa first serializer operable to serialize image data captured by the rearbackup camera; wherein the rear backup camera comprises an imageprocessor; an electronic control unit (ECU); wherein the ECU comprises afirst de-serializer; wherein the rear backup camera connects with theECU via a first cable; wherein communication between the rear backupcamera and the ECU utilizes Low-Voltage Differential Signaling (LVDS);wherein image data captured by the imaging sensor of the rear backupcamera is converted at the first serializer to serialized image datathat is carried to the ECU via the first cable; wherein serialized imagedata carried to the ECU via the first cable is de-serialized at thefirst de-serializer of the ECU to form first de-serialized image data;wherein, responsive at least in part to processing by the imageprocessor at the rear backup camera of image data captured by theimaging sensor of the rear backup camera, the vehicular rear backupsystem is operable to detect a pedestrian present rearward of theequipped vehicle during a rear backup maneuver of the equipped vehicle;wherein video images derived at least in part from image data capturedby the imaging sensor of the rear backup camera are displayed at a videodisplay device of the equipped vehicle during the rear backup maneuverof the equipped vehicle, the video display device comprising a videodisplay screen viewable by a driver of the equipped vehicle; a frontcamera disposed at an exterior portion of the equipped vehicle; wherein,with the front camera disposed at the exterior portion of the equippedvehicle, the front camera at least views forward of the equippedvehicle; wherein the front camera comprises an imaging sensor comprisingan array of at least one million photosensor elements arranged inmultiple columns and multiple rows, and wherein the front camera isoperable to capture image data; wherein the front camera comprises asecond serializer operable to serialize image data captured by the frontcamera; wherein the ECU comprises a second de-serializer, and whereinthe front camera connects with the ECU via a second cable, and whereinimage data captured by the imaging sensor of the front camera isconverted at the second serializer to second serialized image data thatis carried to the ECU via the second cable; wherein second serializedimage data carried to the ECU via the second cable is de-serialized atthe second de-serializer of the ECU to form second de-serialized imagedata; wherein the front camera and the rear backup camera are part of amulti-camera surround view system of the equipped vehicle, and whereinthe multi-camera surround view system of the equipped vehicle includesfour cameras comprising (i) the front camera, (ii) the rear backupcamera, (iii) a driver-side sideview camera and (iv) a passenger-sidesideview camera; wherein image data captured by the four cameras of themulti-camera surround view system of the equipped vehicle is providedto, and is processed at, the ECU; and wherein, responsive to processingat the ECU of image data captured by the four cameras and provided tothe ECU, surround view video images of an environment at least partiallysurrounding the equipped vehicle are displayed at the video displaydevice.
 26. The vehicular rear backup system of claim 25, wherein,responsive at least in part to processing by the image processor at therear backup camera of image data captured by the imaging sensor of therear backup camera, the vehicular rear backup system alerts the driverof the equipped vehicle to presence of the detected pedestrian who isrearward of the equipped vehicle.
 27. The vehicular rear backup systemof claim 25, wherein, responsive at least in part to processing by theimage processor at the rear backup camera of image data captured by theimaging sensor of the rear backup camera, the vehicular rear backupsystem distinguishes a pedestrian who is a child from a pedestrian whois an adult.
 28. The vehicular rear backup system of claim 25, whereinthe ECU connects with a vehicle communication bus of the equippedvehicle.
 29. The vehicular rear backup system of claim 28, wherein thevehicle communication bus of the equipped vehicle comprises a CAN bus.30. The vehicular rear backup system of claim 25, wherein, responsive tothe vehicular rear backup system detecting the pedestrian, the vehicularrear backup system controls braking of the equipped vehicle.
 31. Thevehicular rear backup system of claim 30, wherein the vehicular rearbackup system controls braking of the equipped vehicle based at least inpart on an environment in which the equipped vehicle is driven.
 32. Thevehicular rear backup system of claim 31, wherein the environmentcomprises presence of pedestrian traffic rearward of the equippedvehicle.
 33. The vehicular rear backup system of claim 31, wherein theenvironment comprises presence of vehicles rearward of the equippedvehicle.
 34. The vehicular rear backup system of claim 25, whereincommunication between the rear backup camera and the ECU via the firstcable is bidirectional.
 35. The vehicular rear backup system of claim25, wherein the image processor comprises an image processing chip. 36.The vehicular rear backup system of claim 25, wherein, responsive atleast in part to processing by the image processor at the rear backupcamera of image data captured by the imaging sensor of the rear backupcamera, and responsive at least in part to determination by thevehicular rear backup system that the equipped vehicle and the detectedpedestrian may collide, the vehicular rear backup system at least inpart controls a braking system of the equipped vehicle.
 37. Thevehicular rear backup system of claim 25, wherein, during the rearbackup maneuver of the equipped vehicle and responsive at least in partto processing by the image processor at the rear backup camera of imagedata captured by the imaging sensor of the rear backup camera, thedriver of the equipped vehicle is alerted to presence of the detectedpedestrian viewed by the rear backup camera via an overlay overlayingvideo images derived at least in part from image data captured by theimaging sensor of the rear backup camera and displayed at the videodisplay device of the equipped vehicle during the rear backup maneuverof the equipped vehicle.
 38. The vehicular rear backup system of claim25, wherein electrical power for the rear backup camera is carried fromthe ECU to the rear backup camera via the first cable.
 39. The vehicularrear backup system of claim 25, wherein, responsive at least in part toprocessing by the image processor at the rear backup camera of imagedata captured by the imaging sensor of the rear backup camera, thevehicular rear backup system is operable to detect an object approachingthe equipped vehicle from rearward of the equipped vehicle.
 40. Thevehicular rear backup system of claim 25, wherein the detectedpedestrian is walking rearward of the equipped vehicle.
 41. Thevehicular rear backup system of claim 25, wherein processing by theimage processor at the rear backup camera of image data captured by theimaging sensor of the rear backup camera determines at least oneselected from the group consisting of (i) lateral distance to thedetected pedestrian, (ii) longitudinal distance to the detectedpedestrian, (iii) height of the detected pedestrian, (iv) width of thedetected pedestrian and (v) position of the detected pedestrian.
 42. Avehicular rear backup system, the vehicular rear backup systemcomprising: a rear backup camera disposed at an exterior portion of avehicle equipped with the vehicular rear backup system and viewing atleast rearward of the equipped vehicle; the rear backup cameracomprising an imaging sensor; wherein the imaging sensor of the rearbackup camera comprises a megapixel array having at least one millionphotosensors arranged in multiple columns and multiple rows; wherein therear backup camera is operable to capture image data; wherein the rearbackup camera comprises a first serializer operable to serialize imagedata captured by the rear backup camera; wherein the rear backup cameracomprises an image processor; an electronic control unit (ECU); whereinthe ECU connects with a vehicle communication bus of the equippedvehicle; wherein the ECU comprises a first de-serializer; wherein therear backup camera connects with the ECU via a first cable; whereincommunication between the rear backup camera and the ECU utilizesLow-Voltage Differential Signaling (LVDS); wherein image data capturedby the imaging sensor of the rear backup camera is converted at thefirst serializer to serialized image data that is carried to the ECU viathe first cable; wherein serialized image data carried to the ECU viathe first cable is de-serialized at the first de-serializer of the ECUto form first de-serialized image data; wherein, responsive at least inpart to processing by the image processor at the rear backup camera ofimage data captured by the imaging sensor of the rear backup camera, thevehicular rear backup system is operable to detect a pedestrian presentrearward of the equipped vehicle during a rear backup maneuver of theequipped vehicle; wherein video images derived at least in part fromimage data captured by the imaging sensor of the rear backup camera aredisplayed at a video display device of the equipped vehicle during therear backup maneuver of the equipped vehicle, the video display devicecomprising a video display screen viewable by a driver of the equippedvehicle; wherein, responsive at least in part to processing by the imageprocessor at the rear backup camera of image data captured by theimaging sensor of the rear backup camera, the vehicular rear backupsystem alerts the driver of the equipped vehicle to presence of thedetected pedestrian who is rearward of the equipped vehicle; a frontcamera disposed at an exterior portion of the equipped vehicle; wherein,with the front camera disposed at the exterior portion of the equippedvehicle, the front camera at least views forward of the equippedvehicle; wherein the front camera comprises an imaging sensor comprisingan array of at least one million photosensor elements arranged inmultiple columns and multiple rows, and wherein the front camera isoperable to capture image data; wherein the front camera comprises asecond serializer operable to serialize image data captured by the frontcamera; wherein the ECU comprises a second de-serializer, and whereinthe front camera connects with the ECU via a second cable, and whereinimage data captured by the imaging sensor of the front camera isconverted at the second serializer to second serialized image data thatis carried to the ECU via the second cable; wherein second serializedimage data carried to the ECU via the second cable is de-serialized atthe second de-serializer of the ECU to form second de-serialized imagedata; wherein the front camera and the rear backup camera are part of amulti-camera surround view system of the equipped vehicle, and whereinthe multi-camera surround view system of the equipped vehicle includesfour cameras comprising (i) the front camera, (ii) the rear backupcamera, (iii) a driver-side sideview camera and (iv) a passenger-sidesideview camera; wherein image data captured by the four cameras of themulti-camera surround view system of the equipped vehicle is providedto, and is processed at, the ECU; and wherein, responsive to processingat the ECU of image data captured by the four cameras and provided tothe ECU, surround view video images of an environment at least partiallysurrounding the equipped vehicle are displayed at the video displaydevice.
 43. The vehicular rear backup system of claim 42, whereinprocessing by the image processor at the rear backup camera of imagedata captured by the imaging sensor of the rear backup camera determinesat least one selected from the group consisting of (i) lateral distanceto the detected pedestrian, (ii) longitudinal distance to the detectedpedestrian, (iii) height of the detected pedestrian, (iv) width of thedetected pedestrian and (v) position of the detected pedestrian.
 44. Thevehicular rear backup system of claim 42, wherein the vehiclecommunication bus of the equipped vehicle comprises a CAN bus.
 45. Thevehicular rear backup system of claim 44, wherein, responsive to thevehicular rear backup system detecting the pedestrian, the vehicularrear backup system controls braking of the equipped vehicle.
 46. Thevehicular rear backup system of claim 45, wherein the vehicular rearbackup system controls braking of the equipped vehicle based at least inpart on an environment in which the equipped vehicle is driven.
 47. Thevehicular rear backup system of claim 46, wherein the environmentcomprises presence of pedestrian traffic rearward of the equippedvehicle.
 48. The vehicular rear backup system of claim 46, wherein theenvironment comprises presence of vehicles rearward of the equippedvehicle.
 49. The vehicular rear backup system of claim 42, whereincommunication between the rear backup camera and the ECU via the firstcable is bidirectional.
 50. The vehicular rear backup system of claim42, wherein, responsive at least in part to processing by the imageprocessor at the rear backup camera of image data captured by theimaging sensor of the rear backup camera, the vehicular rear backupsystem distinguishes a pedestrian who is a child from a pedestrian whois an adult.
 51. The vehicular rear backup system of claim 42, whereinthe image processor comprises an image processing chip.
 52. Thevehicular rear backup system of claim 42, wherein, responsive at leastin part to processing by the image processor at the rear backup cameraof image data captured by the imaging sensor of the rear backup camera,and responsive at least in part to determination by the vehicular rearbackup system that the equipped vehicle and the detected pedestrian maycollide, the vehicular rear backup system at least in part controls abraking system of the equipped vehicle.
 53. The vehicular rear backupsystem of claim 42, wherein, during the rear backup maneuver of theequipped vehicle and responsive at least in part to processing by theimage processor at the rear backup camera of image data captured by theimaging sensor of the rear backup camera, the driver of the equippedvehicle is alerted to the presence of the detected pedestrian viewed bythe rear backup camera via an overlay overlaying video images derived atleast in part from image data captured by the imaging sensor of the rearbackup camera and displayed at the video display device of the equippedvehicle during the rear backup maneuver of the equipped vehicle.
 54. Thevehicular rear backup system of claim 42, wherein electrical power forthe rear backup camera is carried from the ECU to the rear backup cameravia the first cable.
 55. The vehicular rear backup system of claim 42,wherein, responsive at least in part to processing by the imageprocessor at the rear backup camera of image data captured by theimaging sensor of the rear backup camera, the vehicular rear backupsystem is operable to detect an object approaching the equipped vehiclefrom rearward of the equipped vehicle.
 56. The vehicular rear backupsystem of claim 42, wherein the detected pedestrian is walking rearwardof the equipped vehicle.